Robotics
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【推荐级别】
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☆☆☆☆
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【下载次数】 |
16 次 |
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【作者】 |
Appin Knowledge Solutions
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【出版社】 |
Infinity Science
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【文件格式】 |
PDF
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【ISBN】 |
ISBN: 978-1-934015-02-5
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【资料语言】 |
英文
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【文件大小】 |
14.6MB
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【上传时间】 |
2008-07-03
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【共享者】 |
鲜卑宇文枫
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资料说明：
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About the Authors ................................................................................................ v
1. Introduction ....................................................................... 1
1.1 Introduction to Robotics .........................................................................................1
1.2 History of Robotics ..................................................................................................2
1.3 Current Research in Robotics Around the World ...............................................10
1.4 Classifi cation of Robotics ......................................................................................16
1.4.1 Robotic Arms ............................................................................................16
1.4.2 Wheeled Mobile Robots ...........................................................................16
1.4.3 Legged Robots .........................................................................................17
1.4.4 Underwater Robots ..................................................................................18
1.4.5 Flying Robots ............................................................................................19
1.4.6 Robot Vision ..............................................................................................19
1.4.7 Artifi cial Intelligence ................................................................................20
1.4.8 Industrial Automation ...............................................................................22
1.5 An Overview of the Book ......................................................................................23
2. Basic Mechanics .............................................................. 25
2.1 Introduction to Theory of Machines and Mechanisms .......................................25
2.2 Some Popular Mechanisms...................................................................................26
2.2.1 Four-bar Mechanism ................................................................................26
2.2.2 Slider-crank Mechanism ..........................................................................28
2.2.3 Rack and Pinion ........................................................................................30
2.2.4 Cams and Cranks ......................................................................................32
2.3 Gear and Gear Trains ...........................................................................................32
2.3.1 Spur Gears .................................................................................................33
2.3.2 Helical Gears .............................................................................................34
2.3.3 Bevel Gears ...............................................................................................35
Table of Contents
viii CONTENTS
2.3.4 Worm and Wheel .....................................................................................36
2.3.5 Parallel Axis Gear Trains ..........................................................................37
2.4 Synthesis of Mechanisms .....................................................................................39
2.4.1 Type, Number, and Dimensional Synthesis .............................................39
2.4.2 Function Generation, Path Generation, and Motion Generation ..........40
2.4.3 Two-position Synthesis .............................................................................41
2.4.4 Three-position Synthesis .........................................................................44
2.5 Kinematic Analysis of Mechanisms ......................................................................48
2.5.1 Graphical Position Analysis Method ........................................................48
2.5.2 Algebraic Position Analysis of Linkages ...................................................50
2.5.3 Complex Algebra Method for Position Analysis ......................................52
2.6 A Practical Guide to Use Various Mechanisms ....................................................54
2.6.1 Most Commonly Used Mechanisms in Projects ......................................54
2.6.2 Use of Different Kinds of Gears and Their Advantages .........................61
2.6.3 Measuring the Torque of a Motor ............................................................62
3. Basic Electronics .............................................................. 65
3.1 Introduction to Electronics ...................................................................................65
3.2 Some Basic Elements ...........................................................................................66
3.2.1 Resistors ....................................................................................................67
3.2.2 Capacitors ..................................................................................................69
3.2.3 Breadboard ................................................................................................70
3.2.4 Potentiometer ..........................................................................................72
3.2.5 Diodes .......................................................................................................73
3.2.6 LEDs .........................................................................................................81
3.2.7 Transistors .................................................................................................82
3.2.8 Integrated Circuits ....................................................................................85
3.2.9 Some Lab Components ............................................................................86
3.3 Steps to Design and Create a Project ...................................................................89
3.4 Sensor Design .......................................................................................................90
3.5 Using the Parallel Port of the Computer ...........................................................102
3.6 Serial Communication: RS-232 ..........................................................................117
3.7 Using the Microcontroller ..................................................................................124
3.8 Actuators .............................................................................................................126
3.8.1 DC Motors .............................................................................................131
3.8.2 Controlling a DC Motor .........................................................................133
CONTENTS ix
3.8.3 Pulse Width Modulation .........................................................................140
3.8.4 Stepper Motors ......................................................................................141
3.8.5 Servo Motor ............................................................................................152
4. Wheeled Mobile Robots ................................................. 155
4.1 Introduction .........................................................................................................155
4.2 Classifi cation of Wheeled Mobile Robots (WMRs) ...........................................156
4.2.1 Differentially Driven WMRs ..................................................................156
4.2.2 Car-type WMRs ......................................................................................157
4.2.3 Omnidirectional WMRs .........................................................................158
4.2.4 Synchro Drive WMRs.............................................................................159
4.3 Kinematics and Mathematical Modeling of WMRs ..........................................161
4.3.1 What is Mathematical Modeling? ..........................................................161
4.3.2 Kinematic Constraints ............................................................................163
4.3.3 Holonomic Constraints ...........................................................................165
4.3.4 Nonholonomic Constraints .....................................................................165
4.3.5 Equivalent Robot Models .......................................................................167
4.3.6 Unicycle Kinematic Model ....................................................................169
4.3.7 Global Coordinate Kinematic Model of the Unicycle ...........................171
4.3.8 Global Coordinate Kinematic Model of a Car-type WMR ...................172
4.3.9 Path Coordinate Model ..........................................................................173
4.4 Control of WMRs ................................................................................................175
4.4.1 What is Control? .....................................................................................175
4.4.2 Trajectory Following ...............................................................................176
4.4.3 The Control Strategy ..............................................................................179
4.4.4 Feedback Control ...................................................................................179
4.5 Simulation of WMRs Using Matlab ...................................................................181
4.5.1 Testing the Control Strategy for a Unicycle-type Mobile Robot ..........182
4.5.2 Testing the Control Strategy for a Car-type Mobile Robot ...................186
4.5.3 Testing the Control Strategy Trajectory Following ..............................190
Problem in a Car-type Mobile Robot
4.6 The Identifi cation and Elimination of the Problem ..........................................191
4.7 Modifying the Model to Make the Variation in Delta Continuous ...................192
4.8 Developing the Software and Hardware Model of an
All-purpose Research WMR ...............................................................................194
Interfacing the System with a Parallel Port .......................................................194
x CONTENTS
5. Kinematics of Robotic Manipulators ............................... 213
5.1 Introduction to Robotic Manipulators ...............................................................213
5.2 Position and Orientation of Objects in Space ....................................................214
5.2.1 Object Coordinate Frame: Position, Orientation, and Frames ............214
5.2.2 Mapping between Translated Frames ...................................................215
5.2.3 Mapping between Rotated Frames ........................................................215
5.2.4 Mapping between Rotated and Translated Frames ..............................218
5.2.5 Homogeneous Representation ...............................................................219
5.3 Forward Kinematics ............................................................................................220
5.3.1 Notations and Description of Links and Joints ......................................220
5.3.2 Denavit-Hartenberg Notation ................................................................222
5.3.3 First and Last Links in the Chain ..........................................................224
5.3.4 Summary: D.H. Parameters ..................................................................225
5.3.5 Kinematic Modeling Using D-H Notations ...........................................226
5.3.6 Special Cases ...........................................................................................226
5.3.7 Forward Kinematics of a Manipulator ..................................................228
5.3.8 Examples of Forward Kinematics ..........................................................230
5.4 Inverse Kinematics ..............................................................................................233
5.4.1 Workspace ...............................................................................................233
5.4.2 Solvability ................................................................................................234
5.4.3 Closed form Solutions.............................................................................235
5.4.4 Algebraic vs. Geometric Solution ...........................................................236
5.4.5 Solution by a Systematic Approach ........................................................239
6. Classifi cation of Sensors ................................................. 241
6.1 Classifi cation of Sensors ......................................................................................241
6.2 Encoders and Dead Reckoning ..........................................................................244
6.3 Infrared Sensors ..................................................................................................249
6.4 Ground-based RF Systems ................................................................................250
6.4.1 LORAN ..................................................................................................250
6.4.2 Kaman Sciences Radio Frequency Navigation Grid ............................251
6.4.3 Precision Location Tracking and Telemetry System ............................252
6.4.4 Motorola Mini-ranger Falcon ................................................................253
6.4.5 Harris Infogeometric System ................................................................254
6.5 Active Beacons ...................................................................................................256
6.5.1 Trilateration ............................................................................................256
6.5.2 Triangulation ..........................................................................................257
CONTENTS xi
6.5.3 Discussion on Triangulation Methods ...................................................258
6.5.4 Triangulation with More than Three Landmarks .................................259
6.6 Ultrasonic Transponder Trilateration ................................................................261
6.6.1 IS Robotics 2D Location System ..........................................................261
6.6.2 Tulane University 3D Location System ................................................262
6.7 Accelerometers ...................................................................................................267
6.8 Gyroscopes .........................................................................................................267
6.8.1 Space-stable Gyroscopes .......................................................................268
6.8.2 Gyrocompasses .......................................................................................270
6.8.3 Gyros ......................................................................................................270
6.9 Laser Range Finder ............................................................................................274
6.10 Vision-based Sensors ...........................................................................................276
6.11 Color-tracking Sensors ........................................................................................281
6.12 Sensor Mounting Arrangement ..........................................................................287
6.13 Design of the Circuitry .......................................................................................288
6.14 Reading the Pulses in a Computer ....................................................................289
7. Legged Robots ............................................................... 291
7.1 Why Study Legged Robots?................................................................................291
7.2 Balance of Legged Robots ..................................................................................293
7.2.1 Static Balance Methods .........................................................................293
7.2.2 Dynamic Balance Methods ...................................................................294
7.3 Analysis of Gaits in Legged Animals ..................................................................297
7.4 Kinematics of Leg Design ...................................................................................304
7.4.1 Forward Kinematics ...............................................................................304
7.4.2 Inverse Kinematics .................................................................................305
7.5 Dynamic Balance and Inverse Pendulum Model ..............................................306
Appendix A Turtle.cpp ........................................................................311
Appendix B About the CD-Rom .........................................................339
Index ......................................................................................................341
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